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It's been a while since I posted last on diy drone. I'm a bit behind regarding the development of the ardupilot mega. Is it using DCM or quaternion and kalman filter ? Does it have magnetometers ? Is there any special hardware set up to fight vibrations ?
I have also developed a low cost IMU using wii motion plus gyros and I have learnt a fair bit. Software is based on quaternion, very quick. I actually strapped it into a quickly made triangular depron flying wing and it is flying great.
I would be happy to share it with you !